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Support edge ids in util::pathfinder

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This commit is contained in:
Nikita Lisitsa 2024-02-07 22:01:42 +03:00
parent 740fab84be
commit e28a78166e
1 changed files with 9 additions and 5 deletions
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14
libs/util/include/psemek/util/find_path.hpp
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@ -69,27 +69,31 @@ namespace psemek::util
Node step()
{
Node const node = *queue.begin();
Node const node = std::move(*queue.begin());
queue.erase(queue.begin());
auto const node_cost = cost[node];
node_neighbours(node, [&](Node const & neighbour, Cost const & edge_cost){
node_neighbours(node, [&]<typename EdgeId = int>(Node neighbour, Cost const & edge_cost, EdgeId const & edge_id = 0){
Cost const new_cost = node_cost + edge_cost;
edge_callback(node, node_cost, neighbour, edge_cost);
auto it = cost.find(neighbour);
if (it == cost.end() || new_cost < it->second)
{
edge_callback(node, node_cost, neighbour, edge_cost, edge_id, true);
if (it != cost.end())
queue.erase(neighbour);
cost[neighbour] = new_cost;
priority[neighbour] = new_cost + heuristic(neighbour);
previous[neighbour] = node;
queue.insert(neighbour);
queue.insert(std::move(neighbour));
}
else
{
edge_callback(node, node_cost, neighbour, edge_cost, edge_id, false);
}
});